CN106878922A - A kind of indoor orientation method and its system - Google Patents
A kind of indoor orientation method and its system Download PDFInfo
- Publication number
- CN106878922A CN106878922A CN201710007152.8A CN201710007152A CN106878922A CN 106878922 A CN106878922 A CN 106878922A CN 201710007152 A CN201710007152 A CN 201710007152A CN 106878922 A CN106878922 A CN 106878922A
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- video camera
- bluetooth
- monitoring system
- bluetooth equipment
- return parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W8/00—Network data management
- H04W8/005—Discovery of network devices, e.g. terminals
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- Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Multimedia (AREA)
- Databases & Information Systems (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The present invention is applied to video monitoring positioning field, there is provided a kind of indoor orientation method and system.Methods described includes：Video camera receives the scan instruction that monitoring system sends, and the bluetooth equipment near the bluetooth scanning for pre-setting is opened according to the scan instruction；Video camera reads the return parameters of scanning result, and uploads the return parameters to monitoring system；Monitoring system determines the position of the bluetooth equipment.By the way that Bluetooth chip is provided with video camera in advance, so that using methods described when the passive monitoring of bluetooth equipment is realized, user is shot by video camera, Bluetooth chip is positioned, the cumbersome process being positioned manually by staff again after video camera shoots is avoided, location efficiency is improve.
Description
Technical field
The embodiment of the present invention belongs to video monitoring positioning field, more particularly to a kind of indoor orientation method and system.
Background technology
With continuing to develop for bluetooth applications, current most intelligent mobile terminal has all supported bluetooth 4.0 with subscript
Standard, the standard of bluetooth 4.0 includes two bluetooth standards, accurately says, is a standard for bimodulus, and it includes conventional Bluetooth part
(also having referred to as classics bluetooth Classic Bluetooth) and low-power consumption bluetooth part (Bluetooth Low Energy).
Conventional Bluetooth is the 1.0.1.2 before, develops on the basis of 2.0+EDR, 2.1+EDR, 3.0+EDR etc. and improves, low
Power consumption bluetooth is grown up in the Wibree standards of Nokia, and the method positioned using Bluetooth technology is more next
It is more universal.
Location technology can be divided into positive location and Passive Positioning, and positive location refers to the current institute of client active inquiry oneself
Position, such as cellphone GPS positioning, architecture.Passive Positioning refers generally to client in the case of conscious or unconscious
Signal is sent, signal is actively received by monitoring device；But existing passive monitoring equipment is complex, and need artificial participation
The specific position fixing process of client, therefore, cause cumbersome, location efficiency is low.
Therefore, it is desirable to provide a kind of new localization method.
The content of the invention
The embodiment of the invention provides a kind of indoor orientation method and system, it is intended in solving existing method, for reality
Apply passive timing monitoring device complicated, it is necessary to participated in by staff, cumbersome so as to cause, location efficiency is low to ask
Topic.
Embodiment of the present invention first aspect, there is provided a kind of indoor orientation method, methods described includes：
Video camera receives the scan instruction that monitoring system sends, and the bluetooth for pre-setting is opened according to the scan instruction and is swept
Retouch neighbouring bluetooth equipment；
Video camera reads the return parameters of scanning result, and uploads the return parameters to monitoring system；
Monitoring system determines the position of the bluetooth equipment.
The second aspect of the embodiment of the present invention, there is provided a kind of indoor locating system, the system includes：
Video camera, the scan instruction for receiving monitoring system transmission, opens what is pre-set according to the scan instruction
Bluetooth equipment near Bluetooth chip scanning；
The video camera is additionally operable to, and reads the return parameters of scanning result, and uploads the return parameters to monitoring system；
Monitoring system, the position for determining the bluetooth equipment.
In embodiments of the present invention, after video camera receives the scan command of monitoring system transmission, what unlatching pre-set
Bluetooth chip, is then scanned to neighbouring bluetooth equipment.The sweep parameter that video camera will be received is sent to monitoring system,
By monitoring system according to the parameter determination nearby bluetooth equipment position.Due to being set on video camera in advance in the present embodiment
Bluetooth chip so that using methods described when the passive monitoring of bluetooth equipment is realized, shot to user by video camera,
Bluetooth chip is positioned, it is to avoid the cumbersome process that video camera is again positioned manually after shooting by staff, is improve
Location efficiency.
Brief description of the drawings
Fig. 1 is a kind of flow chart of indoor orientation method that first embodiment of the invention is provided；
Fig. 2 is a kind of locating effect figure of indoor orientation method that first embodiment of the invention is provided.
Fig. 3 is a kind of schematic diagram of indoor locating system that second embodiment of the invention is provided.
Fig. 4 is a kind of structure chart of indoor locating system that second embodiment of the invention is provided
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In the embodiment of the present invention, after the scan instruction that video camera reception system sends, the bluetooth that startup pre-sets, to week
The bluetooth equipment for enclosing is scanned；Then scanning result is received, after scanning result treatment, transmission to monitoring system, monitoring system
System calculates the position of scanning device according to the scanning information for being received.
In order to illustrate technical solutions according to the invention, illustrated below by specific embodiment.
Embodiment one：
Fig. 1 shows a kind of flow chart of indoor orientation method that first embodiment of the invention is provided, and details are as follows：
Step S11, video camera receives the scan instruction that monitoring system sends, and is opened according to the scan instruction and pre-set
Bluetooth scanning near bluetooth equipment；
In the step, to realize scanning by bluetooth, it is necessary first to add Bluetooth chip on camera hardware, receiving
After the scan instruction sent to monitoring system, multiple cameras open the Bluetooth chip for pre-setting, the unlatching to surrounding simultaneously
The intelligent terminal of Bluetooth function is scanned.Most of intelligent terminal in the market has supported that bluetooth 4.0 is (or higher
Version), when the Bluetooth function that user is opened on intelligent terminal is switched, it is blue that video camera just can search unlatching by Bluetooth chip
The intelligent terminal of tooth function.
Preferably, the bluetooth for being pre-set in the S11 is bluetooth BR/EDR or BLE.
When Bluetooth chip is set to video camera, prioritizing selection bluetooth BR/EDR (bluetooth basic rate/enhancing data transfer rate)
Or bluetooth BLE (low energy consumption bluetooth, Bluetooh Low Energy)；Pre-set on video camera bluetooth BR/EDR or
After BLE, as long as neighbouring smart machine opens Bluetooth function, can be arrived by the bluetooth module active scan on video camera.
Step S12, video camera reads the return parameters of scanning result, and uploads the return parameters to monitoring system；
Alternatively, the step S12 is specifically included：
B1, video camera obtain the signal intensity at least one times that scanning bluetooth equipment is obtained at least one times；
B2, video camera optimize treatment to the signal intensity at least one times, signal intensity after being optimized；
Be referred to as signal intensity, the physical address of the bluetooth equipment, type and name after optimization to return by B3, video camera
Parameter is uploaded to monitoring system.
Specifically, multiple cameras search for nearby bluetooth equipment, the search procedure of the Bluetooth chip by Bluetooth chip
It is responsible for by Bluetooth Host Controller interface HCI (the Host Cntroller Interface) layer in bluetooth protocol repertory, then
Bluetooth equipment to searching is scanned.Due to often there is the shakinesses such as multipath, scattering, barrier, electromagnetic interference in environment
Determine factor so that the signal intensity RSSI value that scanning is obtained is unstable, with larger fluctuation, therefore, generally shooting every time
Machine after the scan instruction for receiving monitoring system transmission, it is necessary to take multiple scan, it is then strong to the multiple signals for getting
Degree RSSI (Received Signal Strength Indication) value is filtered optimization processing, the letter after being optimized
Number intensity RSSI value.When optimization is filtered, video camera receives a cycle (for example, a cycle is set as 1s) interior bluetooth
The scanning signal intensity of chip, optimized module is calculated the (calculation used during calculating to the signal strength values for being received
Method is preferably Kalman filtering algorithm), then export the signal strength values closest to truth, i.e. signal after optimization
Intensity level.
The MCU of video camera receives signal strength values after the optimization, while receiving the physics of the bluetooth equipment that scanning is returned
The return parameters such as address, type and title, and above-mentioned return parameters are sent to monitoring system.
Alternatively, when video camera uploads return parameters to monitoring system, the video camera determines the bluetooth equipment
Mark and current time；The mark and current time of the bluetooth equipment are uploaded to monitoring system by video camera.
After video camera MCU receives return parameters, addition scans the mark and current temporal information of bluetooth equipment, so
Sent to monitoring system together with the return parameters again afterwards.The mark and current time of bluetooth equipment are scanned by addition
Information, therefore, facilitate lookup of the subsequent user to bluetooth equipment position described in a certain moment.
Step S13, monitoring system determines the position of the bluetooth equipment.
Alternatively：The step S13 is specifically included：
C1, the monitoring system calculate the relative position of the bluetooth equipment and the video camera by triangle polyester fibre algorithm
Put；
C2, the particular location that the bluetooth equipment is determined with reference to the camera position topological diagram for pre-setting.
Specifically, after monitoring device receives the return parameters of video camera transmission, bluetooth is calculated by location algorithm and is set
The standby relative distance with multiple video cameras.For example when being calculated by triangle polyester fibre algorithm, monitoring system using signal intensity with
The principle that the increase of propagation distance gradually decays, monitoring system obtains letter of the multiple cameras to same bluetooth equipment under its system
Number intensity level, bluetooth equipment is calculated with every according to the signal strength values after optimizing in the return parameters that the multiple cameras send
The relative distance of video camera.Then the specific position of bluetooth equipment is calculated further according to the camera position topological diagram for pre-setting
Put.Wherein, the camera position topological diagram includes every relative distance of video camera, the position of video camera distance control system
Put and the distance between camera installation locations and neighbouring fixation means.Then the particular location of bluetooth equipment is the bluetooth equipment
With each video camera or the relative position of fixation means.
For the position fixing process of clearer description the present embodiment, illustrated with reference to specific example：
Fig. 2 is the locating effect figure of the present embodiment, and video camera starts Bluetooth chip to nearby opening Bluetooth function in such as Fig. 2
Smart mobile phone be scanned after, to monitoring system send return parameters, monitoring system according in the return parameters for receiving letter
Number intensity, calculates smart mobile phone with every distance of video camera.It is solid with neighbouring further according to the distance between video camera, video camera
Determine facility, such as restaurant, distance determines smart mobile phone between distance and above-mentioned fixation means between toilet and clothes shop
Particular location, the particular location of the smart mobile phone represents the particular location of its holder.
In first embodiment of the invention, by setting Bluetooth chip in video camera, then using multiple cameras simultaneously
Neighbouring bluetooth equipment is scanned by Bluetooth chip, the information such as signal intensity of bluetooth equipment that acquisition is scanned, and instead
Feed monitoring system；The particular location of bluetooth equipment is determined by monitoring system.Realized to indigo plant using the present embodiment methods described
When tooth equipment is positioned, if user enters monitor area, as long as the smart machine entrained by it opens Bluetooth function, will be supervised
Control system discovery, monitoring system obtains its positional information, and then obtain its motion in real time by constantly sending scan command
Track, until he leaves the region；When the passive monitoring of bluetooth equipment is realized, user is shot by video camera, it is blue
Tooth chip is positioned, it is to avoid the cumbersome process that video camera is again positioned manually after shooting by staff, and it is fixed to improve
Position efficiency.
It should be understood that in embodiments of the present invention, the size of the sequence number of above-mentioned each process is not meant to the elder generation of execution sequence
Afterwards, the execution sequence of each process should be with its function and internal logic determination, the implementation process structure without tackling the embodiment of the present invention
Into any restriction.
Embodiment two：
Fig. 3 shows a kind of schematic diagram of alignment system that second embodiment of the invention is provided, and the alignment system can be applied
In various terminals, for convenience of description, the part related to the embodiment of the present invention is illustrate only.
As shown in figure 3, multiple cameras receive the scan instruction that monitoring system sends simultaneously after, the indigo plant that startup pre-sets
Tooth, the bluetooth equipment to surrounding is scanned；So same bluetooth equipment can be swept by Bluetooth chip in multiple cameras simultaneously
Retouch, the return parameters of scanning are then received by video camera, after return parameters treatment, transmission to monitoring system, monitoring system
After scanning information according to being received calculates the relative position of bluetooth equipment and multiple cameras, according to the installation position of video camera
Put the particular location for determining bluetooth equipment.
Fig. 4 shows a kind of structure chart of alignment system that second embodiment of the invention is provided, and details are as follows：
The indoor locating system includes：Video camera 21, monitoring system 22.Wherein：
Video camera 21, the scan instruction for receiving monitoring system transmission, opens according to the scan instruction and pre-sets
Bluetooth chip scanning near bluetooth equipment；
To realize scanning by bluetooth, it is necessary first to add Bluetooth chip on the hardware of video camera 21, receiving prison
After the scan instruction that control system sends, multiple cameras open the Bluetooth chip for pre-setting simultaneously, to the unlatching bluetooth of surrounding
The intelligent terminal of function is scanned.Most of intelligent terminal in the market has supported (or the version higher of bluetooth 4.0
This), when the Bluetooth function that user is opened on intelligent terminal is switched, video camera just can search unlatching bluetooth by Bluetooth chip
The intelligent terminal of function.
Preferably, in the video camera 21, the Bluetooth chip for pre-setting is bluetooth BR/EDR or BLE.
The video camera 21 is additionally operable to, and reads the return parameters of scanning result, and uploads the return parameters to monitoring and be
System；
Preferably, the video camera 21, for reading the return parameters of scanning result, and uploads the return parameters to prison
During control system, specifically include：
Signal intensity acquisition module, for obtaining the signal intensity at least one times that scanning bluetooth equipment is obtained at least one times；
Signal strength optimization module, for optimizing treatment to the signal intensity at least one times, believes after being optimized
Number intensity；
Return parameters uploading module, for by signal intensity after optimization, the physical address of the bluetooth equipment, type and
Name is referred to as return parameters and is uploaded to monitoring system.
Preferably, the return parameters uploading module, including：
Mark and time determining module, mark and current time for determining the bluetooth equipment；
Mark and time uploading module, for the mark and current time of the bluetooth equipment to be uploaded into monitoring system.
Specifically, multiple cameras search for nearby bluetooth equipment, the search procedure of the Bluetooth chip by Bluetooth chip
It is responsible for by Bluetooth Host Controller interface HCI (the Host Cntroller Interface) layer in bluetooth protocol repertory, then
Bluetooth equipment to searching is scanned.Due to often there is the shakinesses such as multipath, scattering, barrier, electromagnetic interference in environment
Determine factor so that signal intensity RSSI (Received Signal Strength Indication) value that scanning is obtained is unstable
It is fixed, with larger fluctuation, therefore, generally every time video camera after the scan instruction for receiving monitoring system transmission, it is necessary to
Take multiple scan, optimization processing then is filtered to the multiple signal intensity RSSI values for getting, the letter after being optimized
Number intensity RSSI value.When optimization is filtered, video camera receives a cycle (for example, a cycle is set as 1s) interior bluetooth
The scanning signal intensity of chip, optimized module is calculated the (calculation used during calculating to the signal strength values for being received
Method is preferably Kalman filtering algorithm), then export a signal strength values for nearest truth, i.e. signal is strong after optimization
Angle value.
The MCU of video camera receives signal strength values after the optimization, mark and time uploading module in video camera, adds institute
The mark and current temporal information of bluetooth equipment are scanned, is then sent to monitoring system together with the return parameters again.
Facilitate lookup of the subsequent user to bluetooth equipment position described in a certain moment.
Monitoring system 22, the position for determining the bluetooth equipment.
Preferably, the monitoring system 22 is specifically included：
Relative position determining unit, for calculating the bluetooth equipment with the video camera by triangle polyester fibre algorithm
Relative position；
Particular location determining unit, the particular location for determining the bluetooth equipment with reference to camera position topological diagram.
Specifically, after monitoring system receives the return parameters of video camera transmission, relative position determining unit is by positioning
Algorithm calculates the relative distance of bluetooth equipment and multiple video cameras.For example when being calculated by triangle polyester fibre algorithm, monitoring system
The principle that system is gradually decayed using signal intensity with the increase of propagation distance, monitoring system obtains multiple cameras pair under its system
The signal strength values of same bluetooth equipment, according to the signal strength values meter after optimizing in the return parameters that the multiple cameras send
Calculate bluetooth equipment and every relative distance of video camera.Then by particular location determining unit again according to the video camera for pre-setting
Position topological diagram calculates the particular location of bluetooth equipment.Wherein, the camera position topological diagram includes every video camera
Relative distance, between the position of video camera distance control system and camera installation locations and neighbouring fixation means away from
From.Then the particular location of bluetooth equipment is the bluetooth equipment and each video camera or the relative position of fixation means.
In second embodiment of the invention, by setting Bluetooth chip in video camera, then using multiple cameras simultaneously
Neighbouring bluetooth equipment is scanned by Bluetooth chip, the information such as signal intensity of bluetooth equipment that acquisition is scanned, and instead
Feed monitoring system；The particular location of bluetooth equipment is determined by monitoring system.Realized to indigo plant using the present embodiment methods described
When tooth equipment is positioned, if user enters monitor area, as long as the smart machine entrained by it opens Bluetooth function, will be supervised
Control system discovery, monitoring system obtains its positional information, and then obtain its motion in real time by constantly sending scan command
Track, until he leaves the region；When the passive monitoring of bluetooth equipment is realized, user is shot by video camera, it is blue
Tooth chip is positioned, it is to avoid the cumbersome process that video camera is again positioned manually after shooting by staff, and it is fixed to improve
Position efficiency.
Those of ordinary skill in the art are it is to be appreciated that the list of each example described with reference to the embodiments described herein
Unit and algorithm steps, can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
Performed with hardware or software mode, depending on the application-specific and design constraint of technical scheme.Professional and technical personnel
Described function, but this realization can be realized it is not considered that exceeding using distinct methods to each specific application
The scope of the present invention.
It is apparent to those skilled in the art that, for convenience and simplicity of description, the system of foregoing description,
With the specific work process of module, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed system and method, can be by it
Its mode is realized.For example, system embodiment described above is only schematical, for example, the division of the module, only
Only a kind of division of logic function, can there is other dividing mode when actually realizing, such as multiple module or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored, or do not perform.It is another, it is shown or discussed
Coupling each other or direct-coupling or communication connection can be the INDIRECT COUPLINGs or logical of system or module by some interfaces
Letter connection, can be electrical, mechanical or other forms.
The above, specific embodiment only of the invention, but protection scope of the present invention is not limited thereto, and it is any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all contain
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
1. a kind of indoor orientation method, it is characterised in that methods described includes：
Video camera receives the scan instruction that monitoring system sends, and the bluetooth scanning for pre-setting is opened according to the scan instruction attached
Near bluetooth equipment；
Video camera reads the return parameters of scanning result, and uploads the return parameters to monitoring system；
Monitoring system determines the position of the bluetooth equipment.
2. method according to claim 1, it is characterised in that the bluetooth for pre-setting be bluetooth BR/EDR or
BLE。
3. method according to claim 1, it is characterised in that the video camera reads the return parameters of scanning result, and
The return parameters are uploaded to monitoring system, is specifically included：
Video camera obtains the signal intensity at least one times that scanning bluetooth equipment is obtained at least one times；
Video camera optimizes treatment to the signal intensity at least one times, signal intensity after being optimized；
Be referred to as on return parameters for signal intensity, the physical address of the bluetooth equipment, type and name after optimization by video camera
Reach monitoring system.
4. method according to claim 3, it is characterised in that the signal intensity that is obtained after the video camera is by optimization,
When the physical address of the bluetooth equipment, type and name are referred to as return parameters and are uploaded to monitoring system, including：
Video camera determines the mark and current time of the bluetooth equipment；
The mark and current time of the bluetooth equipment are uploaded to monitoring system by video camera.
5. method according to claim 1, it is characterised in that the monitoring system determines the position of the bluetooth equipment,
Specifically include：
The monitoring system calculates the relative position of the bluetooth equipment and the video camera by triangle polyester fibre algorithm；
The particular location of the bluetooth equipment is determined with reference to the camera position topological diagram for pre-setting.
6. a kind of indoor locating system, it is characterised in that the system includes：
Video camera, the scan instruction for receiving monitoring system transmission, the bluetooth for pre-setting is opened according to the scan instruction
Bluetooth equipment near chip scanning；
The video camera is additionally operable to, and reads the return parameters of scanning result, and uploads the return parameters to monitoring system；
Monitoring system, the position for determining the bluetooth equipment.
7. method according to claim 6, it is characterised in that in the video camera, the Bluetooth chip for pre-setting is indigo plant
Tooth BR/EDR or BLE.
8. method according to claim 6, it is characterised in that the video camera is used to read the return ginseng of scanning result
Number, and when uploading the return parameters to monitoring system, specifically include：
Signal intensity acquisition module, for obtaining the signal intensity at least one times that scanning bluetooth equipment is obtained at least one times；
Signal strength optimization module, for optimizing treatment to the signal intensity at least one times, signal is strong after being optimized
Degree；
Return parameters uploading module, for by signal intensity, the physical address of the bluetooth equipment, type and title after optimization
Monitoring system is uploaded to as return parameters.
9. method according to claim 8, it is characterised in that the return parameters uploading module, including：
Mark and time determining module, mark and current time for determining the bluetooth equipment；
Mark and time uploading module, for the mark and current time of the bluetooth equipment to be uploaded into monitoring system.
10. method according to claim 6, it is characterised in that the monitoring system, specifically includes：
Relative position determining unit, the phase for calculating the bluetooth equipment and the Bluetooth chip by triangle polyester fibre algorithm
To position；
Particular location determining unit, the tool of the bluetooth equipment is determined for combining the Bluetooth chip position topological diagram for pre-setting
Body position.
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| CN201710007152.8A CN106878922A (en) | 2017-01-05 | 2017-01-05 | A kind of indoor orientation method and its system |
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| CN107342783A (en) * | 2017-07-10 | 2017-11-10 | 深圳市车米云图科技有限公司 | Panoramic video monitoring method, apparatus and system based on bluetooth positioning |
| CN109413385A (en) * | 2018-10-23 | 2019-03-01 | 深圳如果技术有限公司 | A kind of video location monitoring method, system and Cloud Server |
| CN110996247A (en) * | 2019-10-22 | 2020-04-10 | 珠海格力电器股份有限公司 | Indoor positioning method and device, server, Internet of things sensing equipment and storage medium |
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Application publication date: 20170620 |